Automatic Grasp Generation and Improvement for Industrial Bin-Picking

Dirk Kraft*, Lars-Peter Ellekilde, Jimmy Alison Rytz

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Abstrakt

This paper presents work on automatic grasp generation and grasp learning for reducing the manual setup time and increase grasp success rates within bin-picking applications. We propose an approach that is able to generate good grasps automatically using a dynamic grasp simulator, a newly developed robust grasp quality measure and post-processing methods. In addition we present an offline learning approach that is able to adjust grasp priorities based on prior performance. We show, on two real world platforms, that one can replace manual grasp selection by our automatic grasp selection process and achieve comparable results and that our learning approach can improve system performance significantly. Automatic bin-picking is an important industrial process that can lead to significant savings and potentially keep production in countries with high labour cost rather than outsourcing it. The presented work allows to minimize cycle time as well as setup cost, which are essential factors in automatic bin-picking. It therefore leads to a wider applicability of bin-picking in industry.
OriginalsprogEngelsk
TitelGearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe: : Technology Transfer Experiments from the ECHORD Project
RedaktørerFlorian Röhrbein, Germano Veiga, Ciro Natale
ForlagSpringer
Publikationsdato2014
Sider155-176
ISBN (Trykt)978-3-319-03837-7
ISBN (Elektronisk)978-3-319-03838-4
DOI
StatusUdgivet - 2014
NavnSpringer Tracts in Advanced Robotics
Vol/bind94
ISSN1610-7438

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  • Citationsformater

    Kraft, D., Ellekilde, L-P., & Rytz, J. A. (2014). Automatic Grasp Generation and Improvement for Industrial Bin-Picking. I F. Röhrbein, G. Veiga, & C. Natale (red.), Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe: Technology Transfer Experiments from the ECHORD Project (s. 155-176). Springer. Springer Tracts in Advanced Robotics, Bind. 94 https://doi.org/10.1007/978-3-319-03838-4_8